Results for “direct kinematic methods” — Page 3

NASA NTRS1997

Efficient Sequential Attitude Estimation from Vector Observations

This paper presents a computationally efficient, sequential method for attitude matrix estimation using gyro and vector measurements. The method is based on a recently introduced, minimal-parameter third-order method for solving the orthogonal matrix differential equation in R(sup n). In the three-dimensional case, these third-order attitude parameters can be interpreted as temporal-integrals of the body-frame angular velocity components. A nonlinear algorithm is developed, which uses this minimal set of three parameters to estimate the nine-parameter direction-cosine matrix. Having an extremely simple kinematic equation, these parameters render the resulting estimator highly computationally efficient. An orthogonalization procedure, incorporated into the measurement processing stage, enhances the accuracy and stability of the resulting algorithm, yet retains reasonable simplicity. The performance of the estimator is demonstrated via a Monte Carlo simulation study.

Oshman, Yaakov↗

NASA NTRS1980

On the combination of kinematics with flow visualization to compute total circulation - Application to vortex rings in a tube

To date the computation of the total circulation, or strength of a vortex has required detailed measurements of the velocity field within the vortex. In this paper a method is described in which the kinematics of the vortical flow field is exploited to calculate the strength of a vortex from relatively simple flow visualization measurements. There are several advantages in the technique, the most important being the newly acquired ability to calculate the transient changes in strength of a single vortex as it evolves. The method is applied to the study of vortex rings, although the development can be carried over directly to study vortex pairs, and it is expected that it can be generalized to other flows which contain regions of concentrated vorticity. The accuracy of the method as applied to vortex rings, assessed in part by comparing with the laser Doppler velocimeter (LDV) measurements of Sullivan et al., is shown to be excellent.

Brasseur, J. G.↗

NASA NTRS2002

First Accelerator Test of the Kinematic Lightweight Energy Meter (KLEM) Prototype

The essence of the KLEM (Kinematic Lightweight Energy Meter) instrument is to directly measure the elemental energy spectra of high-energy cosmic rays by determining the angular distribution of secondary particles produced in a target. The first test of the simple KLEM prototype has been performed at the CERN SPS test-beam with 180 GeV pions during 2001. The results of the first test analysis confirm that, using the KLEM method, the energy of 180 GeV pions can be measured with a relative error of about 67%, which is very close to the results of the simulation (65%).

Bashindzhagyan, G.↗

NASA NTRS1989

A complete analytical solution for the inverse instantaneous kinematics of a spherical-revolute-spherical (7R) redundant manipulator

Using a method based upon resolving joint velocities using reciprocal screw quantities, compact analytical expressions are generated for the inverse solution of the joint rates of a seven revolute (spherical-revolute-spherical) manipulator. The method uses a sequential decomposition of screw coordinates to identify reciprocal screw quantities used in the resolution of a particular joint rate solution, and also to identify a Jacobian null-space basis used for the direct solution of optimal joint rates. The results of the screw decomposition are used to study special configurations of the manipulator, generating expressions for the inverse velocity solution for all non-singular configurations of the manipulator, and identifying singular configurations and their characteristics. Two functions are therefore served: a new general method for the solution of the inverse velocity problem is presented; and complete analytical expressions are derived for the resolution of the joint rates of a seven degree of freedom manipulator useful for telerobotic and industrial robotic application.

Podhorodeski, R. P.↗

NASA NTRS1997

Experimental Robot Position Sensor Fault Tolerance Using Accelerometers and Joint Torque Sensors

Robot systems in critical applications, such as those in space and nuclear environments, must be able to operate during component failure to complete important tasks. One failure mode that has received little attention is the failure of joint position sensors. Current fault tolerant designs require the addition of directly redundant position sensors which can affect joint design. The proposed method uses joint torque sensors found in most existing advanced robot designs along with easily locatable, lightweight accelerometers to provide a joint position sensor fault recovery mode. This mode uses the torque sensors along with a virtual passive control law for stability and accelerometers for joint position information. Two methods for conversion from Cartesian acceleration to joint position based on robot kinematics, not integration, are presented. The fault tolerant control method was tested on several joints of a laboratory robot. The controllers performed well with noisy, biased data and a model with uncertain parameters.

Aldridge, Hal A.↗

NASA NTRS2003

Accelerator Tests of the KLEM Prototypes

The Kinematic Lightweight Energy Meter (KLEM) device is planned for direct measurement of the elemental energy spectra of high-energy (10(exp 11)-10(exp 16) eV) cosmic rays. The first KLEM prototype has been tested at CERN with 180 GeV pion beam in 2001. A modified KLEM prototype will be tested in proton and heavy ion beams to give more experimental data on energy resolution and charge resolution with KLEM method. The first test results are presented and compared with simulations.

Bashindzhagyan, G.↗

NASA NTRS1985

Generated spiral bevel gears: Optimal machine-tool settings and tooth contact analysis

Geometry and kinematic errors were studied for Gleason generated spiral bevel gears. A new method was devised for choosing optimal machine settings. These settings provide zero kinematic errors and an improved bearing contact. The kinematic errors are a major source of noise and vibration in spiral bevel gears. The improved bearing contact gives improved conditions for lubrication. A computer program for tooth contact analysis was developed, and thereby the new generation process was confirmed. The new process is governed by the requirement that during the generation process there is directional constancy of the common normal of the contacting surfaces for generator and generated surfaces of pinion and gear.

Litvin, F. L.↗

NASA NTRS1985

Generated spiral bevel gears - Optimal machine-tool settings and tooth contact analysis

Geometry and kinematic errors were studied for Gleason generated spiral bevel gears. A new method was devised for choosing optimal machine settings. These settings provide zero kinematic errors and an improved bearing contact. The kinematic errors are a major source of noise and vibration in spiral bevel gears. The improved bearing contact gives improved conditions for lubrication. A computer program for tooth contact analysis was developed, and thereby the new generation process was confirmed. The new process is governed by the requirement that during the generation process there is directional constancy of the common normal of the contacting surfaces for generator and generated surfaces of pinion and gear.

Litvin, F. L.↗

NASA NTRS2019

Implementation and Testing of Inverse Kinematics on Robotic Arm

COSIE (Coronal Spectrographic Imager in the Extreme Ultraviolet) is a proposed solar tracking ISS imaging payload that will help bridge the theoretical gap between the physics of the low corona and the heliosphere. This scientific instrument requires high pointing accuracy, on the order of arc seconds. The instrument is mounted on to a three revolute joint robotic arm in order to track the roll, pitch and yaw motion of the Sun. The goal of this project is to construct a prototype model of the robotic arm and implement the proposed analytical inverse kinematics algorithm. In robotics, the inverse kinematics problem is solving for the set of joint angles that achieve the desired end effect or location and/or orientation. In this case, orientation is the focus. Depending on the configuration, multiple sets of joint angle solutions may exist. Due to the complexity of robotics, typically iterative methods are used to solve for the joint angle solution sets. However, in this case, an analytical solution exists. A small robotic arm representative of the full size hardware was constructed. The inverse kinematics algorithm, originally in MATLAB/Simulink, was converted into C in order to interface with the motors. This C software was implemented on a Windows PC and micro-controller, and serial communication between the two was established, allowing the motors to be directly controlled by the inverse kinematics algorithm. Testing the inverse kinematics on a physical system will allow the validity and accuracy of the analytic solution to be verified.

Franz, Carter↗

NASA NTRS2003

Kinematic analysis of conically scanned environmental properties

A method for determining the velocity of features such as wind. The method preferably includes producing sensor signals and projecting the sensor signals sequentially along lines lying on the surface of a cone. The sensor signals may be in the form of lidar, radar or sonar for example. As the sensor signals are transmitted, the signals contact objects and are backscattered. The backscattered sensor signals are received to determine the location of objects as they pass through the transmission path. The speed and direction the object is moving may be calculated using the backscattered data. The data may be plotted in a two dimensional array with a scan angle on one axis and a scan time on the other axis. The prominent curves that appear in the plot may be analyzed to determine the speed and direction the object is traveling.

Wilkerson, Thomas D.↗

NASA NTRS1989

Advanced development of BEM for elastic and inelastic dynamic analysis of solids

Direct Boundary Element formulations and their numerical implementation for periodic and transient elastic as well as inelastic transient dynamic analyses of two-dimensional, axisymmetric and three-dimensional solids are presented. The inelastic formulation is based on an initial stress approach and is the first of its kind in the field of Boundary Element Methods. This formulation employs the Navier-Cauchy equation of motion, Graffi's dynamic reciprocal theorem, Stokes' fundamental solution, and the divergence theorem, together with kinematical and constitutive equations to obtain the pertinent integral equations of the problem in the time domain within the context of the small displacement theory of elastoplasticity. The dynamic (periodic, transient as well as nonlinear transient) formulations have been applied to a range of problems. The numerical formulations presented here are included in the BEST3D and GPBEST systems.

Banerjee, P. K.↗

NASA NTRS1978

A nearly complete longitude-velocity map of neutral hydrogen

A longitude-velocity map based on two recent 21-cm neutral hydrogen surveys and covering all but 42 deg of galactic longitude is presented. Latitude information between -2 and +2 deg is included as an integrated quantity by averaging the observed brightness temperatures over latitude at constant longitude and velocity to produce intensity information corresponding to a surface density distribution of neutral hydrogen in the galactic plane. The northern and southern rotation curves of the Galaxy within the solar galactic orbit are derived from the maximum radial velocities by the usual tangent-point method. Five interesting features of the map are discussed: (1) the scale of density variations in the neutral hydrogen; (2) a region of very high brightness centered at 81 deg and 0 km/s which is probably due to the spiral arm with which the sun is associated; (3) a region of very low brightness centered at 242 deg and 39 km/s; (4) negative-velocity features visible in the anticenter direction; and (5) a strong absorption feature at 289 deg having a kinematic distance of about 4 kpc.

Waldes, F.↗

NASA NTRS1994

Adaptive Neuron Model: An architecture for the rapid learning of nonlinear topological transformations

A method for the rapid learning of nonlinear mappings and topological transformations using a dynamically reconfigurable artificial neural network is presented. This fully-recurrent Adaptive Neuron Model (ANM) network was applied to the highly degenerate inverse kinematics problem in robotics, and its performance evaluation is bench-marked. Once trained, the resulting neuromorphic architecture was implemented in custom analog neural network hardware and the parameters capturing the functional transformation downloaded onto the system. This neuroprocessor, capable of 10(exp 9) ops/sec, was interfaced directly to a three degree of freedom Heathkit robotic manipulator. Calculation of the hardware feed-forward pass for this mapping was benchmarked at approximately 10 microsec.

Tawel, Raoul↗

NASA NTRS2018

A Simple Test Method for Large Deformation Bending of Thin High Strain Composite Flexures

A simple test method for large deformation bending of thin composite laminates is investigated using image processing and full-field strain measurements. The assumptions and kinematic equations that represent the test are used to calculate numerically the laminate bending stiffness and strength as well as the curvature and strains at failure. In order to validate the test methodology, a comparison is performed between analytical model predictions and empirical data in terms of computed surface strains versus digital image correlation data and calculated rotation angles of the fixture arms throughout the test versus measured ones. The new test method is then used to calculate the bending stiffness in the D11 and D22 directions as well as failure strains for various thin-ply laminates of interest. These parameters are ultimately compared with predicted values using micromechanics and classical lamination theory analysis. In general, bending stiffness and strain test results and predictions for 0 degree orientation coupons have a maximum difference of 10% and 35%.

Fernandez, Juan M.↗

NASA NTRS2008

A New Concurrent Multiscale Methodology for Coupling Molecular Dynamics and Finite Element Analyses

The coupling of molecular dynamics (MD) simulations with finite element methods (FEM) yields computationally efficient models that link fundamental material processes at the atomistic level with continuum field responses at higher length scales. The theoretical challenge involves developing a seamless connection along an interface between two inherently different simulation frameworks. Various specialized methods have been developed to solve particular classes of problems. Many of these methods link the kinematics of individual MD atoms with FEM nodes at their common interface, necessarily requiring that the finite element mesh be refined to atomic resolution. Some of these coupling approaches also require simulations to be carried out at 0 K and restrict modeling to two-dimensional material domains due to difficulties in simulating full three-dimensional material processes. In the present work, a new approach to MD-FEM coupling is developed based on a restatement of the standard boundary value problem used to define a coupled domain. The method replaces a direct linkage of individual MD atoms and finite element (FE) nodes with a statistical averaging of atomistic displacements in local atomic volumes associated with each FE node in an interface region. The FEM and MD computational systems are effectively independent and communicate only through an iterative update of their boundary conditions. With the use of statistical averages of the atomistic quantities to couple the two computational schemes, the developed approach is referred to as an embedded statistical coupling method (ESCM). ESCM provides an enhanced coupling methodology that is inherently applicable to three-dimensional domains, avoids discretization of the continuum model to atomic scale resolution, and permits finite temperature states to be applied.

Yamakov, Vesselin↗

NASA NTRS2008

An Embedded Statistical Method for Coupling Molecular Dynamics and Finite Element Analyses

The coupling of molecular dynamics (MD) simulations with finite element methods (FEM) yields computationally efficient models that link fundamental material processes at the atomistic level with continuum field responses at higher length scales. The theoretical challenge involves developing a seamless connection along an interface between two inherently different simulation frameworks. Various specialized methods have been developed to solve particular classes of problems. Many of these methods link the kinematics of individual MD atoms with FEM nodes at their common interface, necessarily requiring that the finite element mesh be refined to atomic resolution. Some of these coupling approaches also require simulations to be carried out at 0 K and restrict modeling to two-dimensional material domains due to difficulties in simulating full three-dimensional material processes. In the present work, a new approach to MD-FEM coupling is developed based on a restatement of the standard boundary value problem used to define a coupled domain. The method replaces a direct linkage of individual MD atoms and finite element (FE) nodes with a statistical averaging of atomistic displacements in local atomic volumes associated with each FE node in an interface region. The FEM and MD computational systems are effectively independent and communicate only through an iterative update of their boundary conditions. With the use of statistical averages of the atomistic quantities to couple the two computational schemes, the developed approach is referred to as an embedded statistical coupling method (ESCM). ESCM provides an enhanced coupling methodology that is inherently applicable to three-dimensional domains, avoids discretization of the continuum model to atomic scale resolution, and permits finite temperature states to be applied.

Saether, E.↗

NASA NTRS1984

Kinematic control of robot with degenerate wrist

Kinematic resolved rate equations allow an operator with visual feedback to dynamically control a robot hand. When the robot wrist is degenerate, the computed joint angle rates exceed operational limits, and unwanted hand movements can result. The generalized matrix inverse solution can also produce unwanted responses. A method is introduced to control the robot hand in the region of the degenerate robot wrist. The method uses a coordinated movement of the first and third joints of the robot wrist to locate the second wrist joint axis for movement of the robot hand in the commanded direction. The method does not entail infinite joint angle rates.

Barker, L. K.↗

NASA NTRS1983

Special cases of friction and applications

Two techniques for reducing friction forces are presented. The techniques are applied to the generalized problem of reducing the friction between kinematic pairs which connect a moveable link to a frame. The basic principles are: (1) Let the moveable link be supported by two bearings where the relative velocities of the link with respect to each bearing are of opposite directions. Thus the resultant force (torque) of friction acting on the link due to the bearings is approximately zero. Then, additional perturbation of motion parallel to the main motion of the moveable link will require only a very small force; (2) Let the perturbation in motion be perpendicular to the main motion. Equations are developed which explain these two methods. The results are discussed in relation to friction in geared couplings, gyroscope gimbal bearings and a rotary conveyor system. Design examples are presented.

Litvin, F. L.↗